general-navigation 0.4.0

Awesome general_navigation created by AdityaNG

General Navigation

General Navigation Models based on GNM, ViNT, NoMaD as a pytorch repo for quick and easy deployment.

Install it from PyPI

PyPi Link

pip install general_navigation

If you want to connect with the Carla simulator, you will also need to seperately install carla

pip install carla==0.9.15  # Linux and Windows
pip install carla==0.9.5  # Linux and Windows

Usage

Documentation Link

Creating a pytorch instance of the model

from general_navigation.models.factory import (
  get_default_config, get_model, get_weights
)

config = get_default_config()
model = get_model(config)
model = get_weights(config, model, device)

Using the command line tool for inference

$ python3 -m general_navigation --help
usage: general_navigation [-h] [--device {auto,cuda,cpu}] [--media MEDIA]

options:
  -h, --help            show this help message and exit
  --device {auto,cuda,cpu}, -d {auto,cuda,cpu}
  --media MEDIA, -m MEDIA
                        File path, use camera index if you want to use the webcam
$ python3 -m general_navigation --media media/test.mp4

TODO

• Import models from visualnav-transformer
• Script to use specified video camera to feed video into the models
• Visualize model's trajectory output
• Arguments to CLI
• Auto download model weights from google drive
• Demo video
• PyPi release
• Example usage
• Carla Integration
• MPC implementation
• Visualize MPC reconstructed trajectory
• Visualize Steering angle
• Fix scaling issue
• Intrinsic matrix as argument
• Documentation: mkdocs gh-deploy
• Linting fixes
• MyPy testing
• Add test cases for code coverage

Development

Read the CONTRIBUTING.md file.

References

• visualnav-transformer
• diffusion_policy